Obstacle Avoidance Control of Autonomous Undersea Vehicle Based on DVFH+ in Ocean Current Environment
The improved vector field histogram algorithm(VFH+) tends to overlook the autonomous undersea vehicle(AUV) dynamics and ocean current effects, and it is sensitive to threshold selection. To address this issue, a dynamics-based VFH+(DVFH+) algorithm was proposed in this paper. By incorporating AUV dy...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Science Press (China)
2025-02-01
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| Series: | 水下无人系统学报 |
| Subjects: | |
| Online Access: | https://sxwrxtxb.xml-journal.net/cn/article/doi/10.11993/j.issn.2096-3920.2024-0077 |
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| Summary: | The improved vector field histogram algorithm(VFH+) tends to overlook the autonomous undersea vehicle(AUV) dynamics and ocean current effects, and it is sensitive to threshold selection. To address this issue, a dynamics-based VFH+(DVFH+) algorithm was proposed in this paper. By incorporating AUV dynamics parameters to limit the expected heading output, this method reduced abrupt changes in the expected algorithm output, thereby improving AUV’s tracking performance. Additionally, by considering the drift angle compensation in the real ocean current environment, the obstacle avoidance algorithm was optimized to improve its robustness and adaptability. By using information about obstacles, the threshold values were adjusted automatically. This enabled the calculation of the planning instructions based on environmental characteristics around AUVs, ensuring the efficiency and safety of navigation. Simulation experiments using the REMUS 100 AUV model show that DVFH+ can provide a smoother and more feasible obstacle avoidance route, making it suitable for AUV obstacle avoidance in complex environments while effectively preventing issues such as detouring and planning failure caused by improper threshold settings in the original algorithm. |
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| ISSN: | 2096-3920 |